select single system-wide wind estimate message (current best)

- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
 - rename message wind_estimate to wind
 - publish wind from currently used ekf instance (ekf2selector)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

msg/CMakeLists.txt

@@ -41,6 +41,7 @@ set(msg_files
 	adc_report.msg
 	airspeed.msg
 	airspeed_validated.msg
+	airspeed_wind.msg
 	battery_status.msg
 	camera_capture.msg
 	camera_trigger.msg
@@ -66,12 +67,12 @@ set(msg_files
 	follow_target.msg
 	generator_status.msg
 	geofence_result.msg
-	gimbal_device_set_attitude.msg
-	gimbal_manager_set_attitude.msg
-	gimbal_manager_set_manual_control.msg
 	gimbal_device_attitude_status.msg
 	gimbal_device_information.msg
+	gimbal_device_set_attitude.msg
 	gimbal_manager_information.msg
+	gimbal_manager_set_attitude.msg
+	gimbal_manager_set_manual_control.msg
 	gimbal_manager_status.msg
 	gps_dump.msg
 	gps_inject_data.msg
@@ -181,7 +182,7 @@ set(msg_files
 	vehicle_trajectory_waypoint.msg
 	vtol_vehicle_status.msg
 	wheel_encoders.msg
-	wind_estimate.msg
+	wind.msg
 	yaw_estimator_status.msg
 )
 

msg/airspeed_wind.msg

@@ -16,8 +16,7 @@ float32 beta_innov_var 		# Sideslip measurement innovation variance
 
 uint8 source			# source of wind estimate
 
-uint8 SOURCE_EKF = 0		# wind estimate source is the EKF
+uint8 SOURCE_AS_BETA_ONLY = 0	# wind estimate only based on synthetic sideslip fusion
-uint8 SOURCE_AS_BETA_ONLY = 1	# wind estimate from airspeed selector, only based on synthetic sideslip fusion
+uint8 SOURCE_AS_SENSOR_1 = 1	# combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
-uint8 SOURCE_AS_SENSOR_1 = 2	# combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
+uint8 SOURCE_AS_SENSOR_2 = 2	# combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
-uint8 SOURCE_AS_SENSOR_2 = 3	# combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
+uint8 SOURCE_AS_SENSOR_3 = 3	# combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)
-uint8 SOURCE_AS_SENSOR_3 = 4	# combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)

msg/tools/uorb_rtps_message_ids.yaml

@@ -225,7 +225,7 @@ rtps:
     receive: true
   - msg: vtol_vehicle_status
     id: 105
-  - msg: wind_estimate
+  - msg: wind
     id: 106
   - msg: collision_constraints
     id: 107
@@ -329,6 +329,8 @@ rtps:
     id: 156
   - msg: gimbal_manager_set_manual_control
     id: 157
+  - msg: airspeed_wind
+    id: 158
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 170
@@ -431,4 +433,7 @@ rtps:
   - msg: actuator_controls_5
     id: 202
     alias: actuator_controls
+  - msg: estimator_wind
+    id: 203
+    alias: wind
   ########## multi topics: end ##########

msg/wind.msg

@@ -0,0 +1,16 @@
+uint64 timestamp		# time since system start (microseconds)
+uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
+
+float32 windspeed_north		# Wind component in north / X direction (m/sec)
+float32 windspeed_east		# Wind component in east / Y direction (m/sec)
+
+float32 variance_north		# Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
+float32 variance_east		# Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
+
+float32 tas_innov 		# True airspeed innovation
+float32 tas_innov_var 		# True airspeed innovation variance
+
+float32 beta_innov 		# Sideslip measurement innovation
+float32 beta_innov_var 		# Sideslip measurement innovation variance
+
+# TOPICS wind estimator_wind

src/lib/airspeed_validator/AirspeedValidator.cpp

@@ -86,10 +86,10 @@ AirspeedValidator::update_wind_estimator(const uint64_t time_now_usec, float air
 }
 
 // this function returns the current states of the wind estimator to be published in the airspeed module
-wind_estimate_s
+airspeed_wind_s
 AirspeedValidator::get_wind_estimator_states(uint64_t timestamp)
 {
-	wind_estimate_s wind_est = {};
+	airspeed_wind_s wind_est = {};
 
 	wind_est.timestamp = timestamp;
 	float wind[2];

src/lib/airspeed_validator/AirspeedValidator.hpp

@@ -40,7 +40,7 @@
 
 #include <airspeed/airspeed.h>
 #include <ecl/airdata/WindEstimator.hpp>
-#include <uORB/topics/wind_estimate.h>
+#include <uORB/topics/airspeed_wind.h>
 
 
 using matrix::Dcmf;
@@ -86,7 +86,7 @@ public:
 	bool get_airspeed_valid() { return _airspeed_valid; }
 	float get_CAS_scale() {return _CAS_scale;}
 
-	wind_estimate_s get_wind_estimator_states(uint64_t timestamp);
+	airspeed_wind_s get_wind_estimator_states(uint64_t timestamp);
 
 	// setters wind estimator parameters
 	void set_wind_estimator_wind_p_noise(float wind_sigma) { _wind_estimator.set_wind_p_noise(wind_sigma); }

src/modules/airspeed_selector/airspeed_selector_main.cpp

@@ -60,7 +60,7 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vtol_vehicle_status.h>
-#include <uORB/topics/wind_estimate.h>
+#include <uORB/topics/airspeed_wind.h>
 
 using namespace time_literals;
 
@@ -103,7 +103,7 @@ private:
 	};
 
 	uORB::Publication<airspeed_validated_s> _airspeed_validated_pub {ORB_ID(airspeed_validated)};			/**< airspeed validated topic*/
-	uORB::PublicationMulti<wind_estimate_s> _wind_est_pub[MAX_NUM_AIRSPEED_SENSORS + 1] {{ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}}; /**< wind estimate topic (for each airspeed validator + purely sideslip fusion) */
+	uORB::PublicationMulti<airspeed_wind_s> _wind_est_pub[MAX_NUM_AIRSPEED_SENSORS + 1] {{ORB_ID(airspeed_wind)}, {ORB_ID(airspeed_wind)}, {ORB_ID(airspeed_wind)}, {ORB_ID(airspeed_wind)}}; /**< wind estimate topic (for each airspeed validator + purely sideslip fusion) */
 	orb_advert_t 	_mavlink_log_pub {nullptr}; 						/**< mavlink log topic*/
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
@@ -129,7 +129,7 @@ private:
 	vtol_vehicle_status_s _vtol_vehicle_status {};
 
 	WindEstimator	_wind_estimator_sideslip; /**< wind estimator instance only fusing sideslip */
-	wind_estimate_s _wind_estimate_sideslip {}; /**< wind estimate message for wind estimator instance only fusing sideslip */
+	airspeed_wind_s _wind_estimate_sideslip {}; /**< wind estimate message for wind estimator instance only fusing sideslip */
 
 	int32_t _number_of_airspeed_sensors{0}; /**<  number of airspeed sensors in use (detected during initialization)*/
 	int32_t _prev_number_of_airspeed_sensors{0}; /**<  number of airspeed sensors in previous loop (to detect a new added sensor)*/
@@ -489,7 +489,7 @@ void AirspeedModule::update_wind_estimator_sideslip()
 	_wind_estimate_sideslip.beta_innov = _wind_estimator_sideslip.get_beta_innov();
 	_wind_estimate_sideslip.beta_innov_var = _wind_estimator_sideslip.get_beta_innov_var();
 	_wind_estimate_sideslip.tas_scale = _wind_estimator_sideslip.get_tas_scale();
-	_wind_estimate_sideslip.source = wind_estimate_s::SOURCE_AS_BETA_ONLY;
+	_wind_estimate_sideslip.source = airspeed_wind_s::SOURCE_AS_BETA_ONLY;
 }
 
 void AirspeedModule::update_ground_minus_wind_airspeed()
@@ -602,16 +602,16 @@ void AirspeedModule::select_airspeed_and_publish()
 
 	// publish the wind estimator states from all airspeed validators
 	for (int i = 0; i < _number_of_airspeed_sensors; i++) {
-		wind_estimate_s wind_est = _airspeed_validator[i].get_wind_estimator_states(_time_now_usec);
+		airspeed_wind_s wind_est = _airspeed_validator[i].get_wind_estimator_states(_time_now_usec);
 
 		if (i == 0) {
-			wind_est.source = wind_estimate_s::SOURCE_AS_SENSOR_1;
+			wind_est.source = airspeed_wind_s::SOURCE_AS_SENSOR_1;
 
 		} else if (i == 1) {
-			wind_est.source = wind_estimate_s::SOURCE_AS_SENSOR_2;
+			wind_est.source = airspeed_wind_s::SOURCE_AS_SENSOR_2;
 
 		} else {
-			wind_est.source = wind_estimate_s::SOURCE_AS_SENSOR_3;
+			wind_est.source = airspeed_wind_s::SOURCE_AS_SENSOR_3;
 		}
 
 		_wind_est_pub[i + 1].publish(wind_est);

src/modules/ekf2/EKF2.cpp

@@ -55,6 +55,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_local_position_pub(multi_mode ? ORB_ID(estimator_local_position) : ORB_ID(vehicle_local_position)),
 	_global_position_pub(multi_mode ? ORB_ID(estimator_global_position) : ORB_ID(vehicle_global_position)),
 	_odometry_pub(multi_mode ? ORB_ID(estimator_odometry) : ORB_ID(vehicle_odometry)),
+	_wind_pub(multi_mode ? ORB_ID(estimator_wind) : ORB_ID(wind)),
 	_params(_ekf.getParamHandle()),
 	_param_ekf2_min_obs_dt(_params->sensor_interval_min_ms),
 	_param_ekf2_mag_delay(_params->mag_delay_ms),
@@ -1112,25 +1113,23 @@ void EKF2::PublishWindEstimate(const hrt_abstime &timestamp)
 {
 	if (_ekf.get_wind_status()) {
 		// Publish wind estimate only if ekf declares them valid
-		wind_estimate_s wind_estimate{};
+		wind_s wind{};
-		wind_estimate.timestamp_sample = timestamp;
+		wind.timestamp_sample = timestamp;
 
 		const Vector2f wind_vel = _ekf.getWindVelocity();
 		const Vector2f wind_vel_var = _ekf.getWindVelocityVariance();
-		_ekf.getAirspeedInnov(wind_estimate.tas_innov);
+		_ekf.getAirspeedInnov(wind.tas_innov);
-		_ekf.getAirspeedInnovVar(wind_estimate.tas_innov_var);
+		_ekf.getAirspeedInnovVar(wind.tas_innov_var);
-		_ekf.getBetaInnov(wind_estimate.beta_innov);
+		_ekf.getBetaInnov(wind.beta_innov);
-		_ekf.getBetaInnovVar(wind_estimate.beta_innov_var);
+		_ekf.getBetaInnovVar(wind.beta_innov_var);
 
-		wind_estimate.windspeed_north = wind_vel(0);
+		wind.windspeed_north = wind_vel(0);
-		wind_estimate.windspeed_east = wind_vel(1);
+		wind.windspeed_east = wind_vel(1);
-		wind_estimate.variance_north = wind_vel_var(0);
+		wind.variance_north = wind_vel_var(0);
-		wind_estimate.variance_east = wind_vel_var(1);
+		wind.variance_east = wind_vel_var(1);
-		wind_estimate.tas_scale = 0.0f; //leave at 0 as scale is not estimated in ekf
+		wind.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
-		wind_estimate.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
-		wind_estimate.source = wind_estimate_s::SOURCE_EKF;
 
-		_wind_pub.publish(wind_estimate);
+		_wind_pub.publish(wind);
 	}
 }
 

src/modules/ekf2/EKF2.hpp

@@ -85,7 +85,7 @@
 #include <uORB/topics/vehicle_magnetometer.h>
 #include <uORB/topics/vehicle_odometry.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/wind_estimate.h>
+#include <uORB/topics/wind.h>
 #include <uORB/topics/yaw_estimator_status.h>
 
 #include "Utility/PreFlightChecker.hpp"
@@ -254,13 +254,14 @@ private:
 	uORB::PublicationMulti<estimator_status_flags_s>     _estimator_status_flags_pub{ORB_ID(estimator_status_flags)};
 	uORB::PublicationMulti<vehicle_odometry_s>           _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
 	uORB::PublicationMulti<yaw_estimator_status_s>       _yaw_est_pub{ORB_ID(yaw_estimator_status)};
-	uORB::PublicationMulti<wind_estimate_s>              _wind_pub{ORB_ID(wind_estimate)};
 
 	// publications with topic dependent on multi-mode
 	uORB::PublicationMulti<vehicle_attitude_s>           _attitude_pub;
 	uORB::PublicationMulti<vehicle_local_position_s>     _local_position_pub;
 	uORB::PublicationMulti<vehicle_global_position_s>    _global_position_pub;
 	uORB::PublicationMulti<vehicle_odometry_s>           _odometry_pub;
+	uORB::PublicationMulti<wind_s>              _wind_pub;
+
 
 	PreFlightChecker _preflt_checker;
 

src/modules/ekf2/EKF2Selector.cpp

@@ -122,6 +122,7 @@ bool EKF2Selector::SelectInstance(uint8_t ekf_instance)
 		PublishVehicleAttitude(true);
 		PublishVehicleLocalPosition(true);
 		PublishVehicleGlobalPosition(true);
+		PublishWindEstimate(true);
 
 		return true;
 	}
@@ -498,6 +499,25 @@ void EKF2Selector::PublishVehicleGlobalPosition(bool reset)
 	}
 }
 
+void EKF2Selector::PublishWindEstimate(bool reset)
+{
+	wind_s wind;
+
+	if (_instance[_selected_instance].estimator_wind_sub.copy(&wind)) {
+		if (reset) {
+			// ensure monotonically increasing timestamp_sample through reset
+			wind.timestamp_sample = max(wind.timestamp_sample, _wind_last.timestamp_sample);
+		}
+
+		// save last primary wind
+		_wind_last = wind;
+
+		// republish with current timestamp
+		wind.timestamp = hrt_absolute_time();
+		_wind_pub.publish(wind);
+	}
+}
+
 void EKF2Selector::Run()
 {
 	// re-schedule as backup timeout
@@ -651,6 +671,11 @@ void EKF2Selector::Run()
 		PublishVehicleGlobalPosition();
 	}
 
+	// selected estimator_wind -> wind
+	if (_instance[_selected_instance].estimator_wind_sub.updated()) {
+		PublishWindEstimate();
+	}
+
 	// selected estimator_odometry -> vehicle_odometry
 	if (_instance[_selected_instance].estimator_odometry_sub.updated()) {
 		vehicle_odometry_s vehicle_odometry;

src/modules/ekf2/EKF2Selector.hpp

@@ -52,6 +52,7 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_odometry.h>
+#include <uORB/topics/wind.h>
 
 #if CONSTRAINED_MEMORY
 # define EKF2_MAX_INSTANCES 2
@@ -80,6 +81,7 @@ private:
 	void PublishVehicleAttitude(bool reset = false);
 	void PublishVehicleLocalPosition(bool reset = false);
 	void PublishVehicleGlobalPosition(bool reset = false);
+	void PublishWindEstimate(bool reset = false);
 	bool SelectInstance(uint8_t instance);
 
 	// Update the error scores for all available instances
@@ -94,6 +96,7 @@ private:
 			estimator_local_position_sub{ORB_ID(estimator_local_position), i},
 			estimator_global_position_sub{ORB_ID(estimator_global_position), i},
 			estimator_odometry_sub{ORB_ID(estimator_odometry), i},
+			estimator_wind_sub{ORB_ID(estimator_wind), i},
 			instance(i)
 		{}
 
@@ -103,6 +106,7 @@ private:
 		uORB::Subscription estimator_local_position_sub;
 		uORB::Subscription estimator_global_position_sub;
 		uORB::Subscription estimator_odometry_sub;
+		uORB::Subscription estimator_wind_sub;
 
 		uint64_t timestamp_sample_last{0};
 
@@ -195,6 +199,9 @@ private:
 	uint8_t _lat_lon_reset_counter{0};
 	uint8_t _alt_reset_counter{0};
 
+	// wind estimate
+	wind_s _wind_last{};
+
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::Subscription _sensors_status_imu{ORB_ID(sensors_status_imu)};
 
@@ -205,6 +212,7 @@ private:
 	uORB::Publication<vehicle_global_position_s>   _vehicle_global_position_pub{ORB_ID(vehicle_global_position)};
 	uORB::Publication<vehicle_local_position_s>    _vehicle_local_position_pub{ORB_ID(vehicle_local_position)};
 	uORB::Publication<vehicle_odometry_s>          _vehicle_odometry_pub{ORB_ID(vehicle_odometry)};
+	uORB::Publication<wind_s>             _wind_pub{ORB_ID(wind)};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::EKF2_SEL_ERR_RED>) _param_ekf2_sel_err_red,

src/modules/logger/logged_topics.cpp

@@ -113,6 +113,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("vehicle_status");
 	add_topic("vehicle_status_flags");
 	add_topic("vtol_vehicle_status", 200);
+	add_topic("wind", 1000);
 
 	// Control allocation topics
 	add_topic("vehicle_angular_acceleration_setpoint", 20);
@@ -123,6 +124,7 @@ void LoggedTopics::add_default_topics()
 
 	// multi topics
 	add_topic_multi("actuator_outputs", 100, 3);
+	add_topic_multi("airspeed_wind", 1000);
 	add_topic_multi("logger_status", 0, 2);
 	add_topic_multi("multirotor_motor_limits", 1000, 2);
 	add_topic_multi("rate_ctrl_status", 200, 2);
@@ -149,8 +151,8 @@ void LoggedTopics::add_default_topics()
 	add_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("wind_estimate", 1000); // published by both ekf2 and airspeed_selector
 
 	// log all raw sensors at minimal rate (at least 1 Hz)
 	add_topic_multi("battery_status", 300, 2);

src/modules/mavlink/streams/ALTITUDE.hpp

@@ -35,7 +35,7 @@
 #define ALTITUDE_HPP
 
 #include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/wind_estimate.h>
+#include <uORB/topics/wind.h>
 
 class MavlinkStreamAltitude : public MavlinkStream
 {

src/modules/mavlink/streams/HIGH_LATENCY2.hpp

@@ -49,7 +49,7 @@
 #include <uORB/topics/mission_result.h>
 #include <uORB/topics/position_controller_status.h>
 #include <uORB/topics/tecs_status.h>
-#include <uORB/topics/wind_estimate.h>
+#include <uORB/topics/wind.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_gps_position.h>
@@ -134,7 +134,7 @@ private:
 			updated |= write_tecs_status(&msg);
 			updated |= write_vehicle_status(&msg);
 			updated |= write_vehicle_status_flags(&msg);
-			updated |= write_wind_estimate(&msg);
+			updated |= write_wind(&msg);
 
 			if (updated) {
 				msg.timestamp = t / 1000;
@@ -477,9 +477,9 @@ private:
 		return false;
 	}
 
-	bool write_wind_estimate(mavlink_high_latency2_t *msg)
+	bool write_wind(mavlink_high_latency2_t *msg)
 	{
-		wind_estimate_s wind;
+		wind_s wind;
 
 		if (_wind_sub.update(&wind)) {
 			msg->wind_heading = static_cast<uint8_t>(math::degrees(matrix::wrap_2pi(atan2f(wind.windspeed_east,
@@ -506,7 +506,7 @@ private:
 		update_local_position();
 		update_gps();
 		update_vehicle_status();
-		update_wind_estimate();
+		update_wind();
 	}
 
 	void update_airspeed()
@@ -586,9 +586,9 @@ private:
 		}
 	}
 
-	void update_wind_estimate()
+	void update_wind()
 	{
-		wind_estimate_s wind;
+		wind_s wind;
 
 		if (_wind_sub.update(&wind)) {
 			_windspeed.add_value(sqrtf(wind.windspeed_north * wind.windspeed_north + wind.windspeed_east * wind.windspeed_east),
@@ -642,7 +642,7 @@ private:
 	uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
 	uORB::Subscription _status_flags_sub{ORB_ID(vehicle_status_flags)};
 	uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
-	uORB::Subscription _wind_sub{ORB_ID(wind_estimate)};
+	uORB::Subscription _wind_sub{ORB_ID(wind)};
 
 	SimpleAnalyzer _airspeed;
 	SimpleAnalyzer _airspeed_sp;

src/modules/mavlink/streams/WIND_COV.hpp

@@ -35,7 +35,7 @@
 #define WIND_COV_HPP
 
 #include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/wind_estimate.h>
+#include <uORB/topics/wind.h>
 
 class MavlinkStreamWindCov : public MavlinkStream
 {
@@ -50,29 +50,29 @@ public:
 
 	unsigned get_size() override
 	{
-		return _wind_estimate_sub.advertised() ? MAVLINK_MSG_ID_WIND_COV_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+		return _wind_sub.advertised() ? MAVLINK_MSG_ID_WIND_COV_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
 	}
 
 private:
 	explicit MavlinkStreamWindCov(Mavlink *mavlink) : MavlinkStream(mavlink) {}
 
-	uORB::Subscription _wind_estimate_sub{ORB_ID(wind_estimate)};
+	uORB::Subscription _wind_sub{ORB_ID(wind)};
 	uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
 
 	bool send() override
 	{
-		wind_estimate_s wind_estimate;
+		wind_s wind;
 
-		if (_wind_estimate_sub.update(&wind_estimate)) {
+		if (_wind_sub.update(&wind)) {
 			mavlink_wind_cov_t msg{};
 
-			msg.time_usec = wind_estimate.timestamp;
+			msg.time_usec = wind.timestamp;
 
-			msg.wind_x = wind_estimate.windspeed_north;
+			msg.wind_x = wind.windspeed_north;
-			msg.wind_y = wind_estimate.windspeed_east;
+			msg.wind_y = wind.windspeed_east;
 			msg.wind_z = 0.0f;
 
-			msg.var_horiz = wind_estimate.variance_north + wind_estimate.variance_east;
+			msg.var_horiz = wind.variance_north + wind.variance_east;
 			msg.var_vert = 0.0f;
 
 			vehicle_local_position_s lpos{};

src/modules/navigator/rtl.cpp

@@ -670,12 +670,12 @@ void RTL::get_rtl_xy_z_speed(float &xy, float &z)
 
 matrix::Vector2f RTL::get_wind()
 {
-	_wind_estimate_sub.update();
+	_wind_sub.update();
 	matrix::Vector2f wind;
 
-	if (hrt_absolute_time() - _wind_estimate_sub.get().timestamp < 1_s) {
+	if (hrt_absolute_time() - _wind_sub.get().timestamp < 1_s) {
-		wind(0) = _wind_estimate_sub.get().windspeed_north;
+		wind(0) = _wind_sub.get().windspeed_north;
-		wind(1) = _wind_estimate_sub.get().windspeed_east;
+		wind(1) = _wind_sub.get().windspeed_east;
 	}
 
 	return wind;

src/modules/navigator/rtl.h

@@ -50,7 +50,7 @@
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/rtl_flight_time.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/wind_estimate.h>
+#include <uORB/topics/wind.h>
 #include <matrix/math.hpp>
 #include <lib/ecl/geo/geo.h>
 
@@ -169,7 +169,7 @@ private:
 	param_t _param_rtl_xy_speed{PARAM_INVALID};
 	param_t _param_rtl_descent_speed{PARAM_INVALID};
 
-	uORB::SubscriptionData<wind_estimate_s>		_wind_estimate_sub{ORB_ID(wind_estimate)};
+	uORB::SubscriptionData<wind_s>		_wind_sub{ORB_ID(wind)};
 	uORB::Publication<rtl_flight_time_s>		_rtl_flight_time_pub{ORB_ID(rtl_flight_time)};
 };